From e95fde1b0efcb2533f8400fa97fcb5c0b895ae51 Mon Sep 17 00:00:00 2001
From: Fabien Grzeskowiak <fabien.grzeskowiak@inria.fr>
Date: Tue, 25 Jun 2019 14:29:37 +0200
Subject: [PATCH] add official pepper urdf
---
crowdbotsim/JulietteY20MP_crowdbotsim.urdf | 2219 +++++++++++++++++
crowdbotsim/meshes/HeadPitch_0.10.stl | Bin 7934 -> 7934 bytes
crowdbotsim/meshes/HeadPitch_ears.stl | Bin 0 -> 2384 bytes
crowdbotsim/meshes/HeadPitch_eyes.stl | Bin 0 -> 2384 bytes
crowdbotsim/meshes/HeadPitch_milky.stl | Bin 0 -> 17034 bytes
crowdbotsim/meshes/HeadPitch_shiny.stl | Bin 0 -> 57284 bytes
crowdbotsim/meshes/HeadYaw.stl | Bin 42184 -> 42184 bytes
crowdbotsim/meshes/HeadYaw_0.10.stl | Bin 4284 -> 4284 bytes
crowdbotsim/meshes/HipPitch_0.10.stl | Bin 6084 -> 6084 bytes
crowdbotsim/meshes/HipPitch_milky.stl | Bin 0 -> 30184 bytes
crowdbotsim/meshes/HipPitch_shiny.stl | Bin 0 -> 29984 bytes
crowdbotsim/meshes/HipRoll.stl | Bin 27584 -> 27584 bytes
crowdbotsim/meshes/HipRoll_0.10.stl | Bin 2784 -> 2784 bytes
crowdbotsim/meshes/KneePitch_0.10.stl | Bin 6634 -> 6634 bytes
crowdbotsim/meshes/KneePitch_milky.stl | Bin 0 -> 13884 bytes
crowdbotsim/meshes/KneePitch_shiny.stl | Bin 0 -> 52684 bytes
crowdbotsim/meshes/LElbowRoll_0.10.stl | Bin 1384 -> 1384 bytes
crowdbotsim/meshes/LElbowRoll_milky.stl | Bin 0 -> 6134 bytes
crowdbotsim/meshes/LElbowRoll_shiny.stl | Bin 0 -> 7334 bytes
crowdbotsim/meshes/LElbowYaw.stl | Bin 22084 -> 22084 bytes
crowdbotsim/meshes/LElbowYaw_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/LShoulderPitch.stl | Bin 21884 -> 21884 bytes
crowdbotsim/meshes/LShoulderPitch_0.10.stl | Bin 2184 -> 2184 bytes
crowdbotsim/meshes/LShoulderRoll_0.10.stl | Bin 2184 -> 2184 bytes
crowdbotsim/meshes/LShoulderRoll_milky.stl | Bin 0 -> 15584 bytes
crowdbotsim/meshes/LShoulderRoll_shiny.stl | Bin 0 -> 6084 bytes
crowdbotsim/meshes/RElbowRoll_0.10.stl | Bin 1384 -> 1384 bytes
crowdbotsim/meshes/RElbowRoll_milky.stl | Bin 0 -> 6134 bytes
crowdbotsim/meshes/RElbowRoll_shiny.stl | Bin 0 -> 7334 bytes
crowdbotsim/meshes/RElbowYaw.stl | Bin 22084 -> 22084 bytes
crowdbotsim/meshes/RElbowYaw_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/RShoulderPitch.stl | Bin 21884 -> 21884 bytes
crowdbotsim/meshes/RShoulderPitch_0.10.stl | Bin 2184 -> 2184 bytes
crowdbotsim/meshes/RShoulderRoll_0.10.stl | Bin 2184 -> 2184 bytes
crowdbotsim/meshes/RShoulderRoll_milky.stl | Bin 0 -> 15584 bytes
crowdbotsim/meshes/RShoulderRoll_shiny.stl | Bin 0 -> 6084 bytes
crowdbotsim/meshes/Torso_0.10.stl | Bin 5384 -> 5384 bytes
crowdbotsim/meshes/Torso_milky.stl | Bin 0 -> 26684 bytes
crowdbotsim/meshes/Torso_shiny.stl | Bin 0 -> 26484 bytes
crowdbotsim/meshes/Torso_transparent.stl | Bin 0 -> 484 bytes
crowdbotsim/meshes/WheelB.stl | Bin 38084 -> 38084 bytes
crowdbotsim/meshes/WheelB_0.10.stl | Bin 3884 -> 3884 bytes
crowdbotsim/meshes/WheelFL.stl | Bin 38084 -> 38084 bytes
crowdbotsim/meshes/WheelFL_0.10.stl | Bin 3884 -> 3884 bytes
crowdbotsim/meshes/WheelFR.stl | Bin 38084 -> 38084 bytes
crowdbotsim/meshes/WheelFR_0.10.stl | Bin 3884 -> 3884 bytes
crowdbotsim/resources/logoCB.png | Bin 0 -> 74765 bytes
crowdbotsim/tmp.txt | 975 ++++++++
crowdbotsim/urdf/meshes/HeadPitch_0.10.stl | Bin 0 -> 7934 bytes
crowdbotsim/urdf/meshes/HeadPitch_ears.stl | Bin 0 -> 2384 bytes
crowdbotsim/urdf/meshes/HeadPitch_eyes.stl | Bin 0 -> 2384 bytes
crowdbotsim/urdf/meshes/HeadPitch_milky.stl | Bin 0 -> 17034 bytes
crowdbotsim/urdf/meshes/HeadPitch_shiny.stl | Bin 0 -> 57284 bytes
crowdbotsim/urdf/meshes/HeadYaw.stl | Bin 0 -> 42184 bytes
crowdbotsim/urdf/meshes/HeadYaw_0.10.stl | Bin 0 -> 4284 bytes
crowdbotsim/urdf/meshes/HipPitch_0.10.stl | Bin 0 -> 6084 bytes
crowdbotsim/urdf/meshes/HipPitch_milky.stl | Bin 0 -> 30184 bytes
crowdbotsim/urdf/meshes/HipPitch_shiny.stl | Bin 0 -> 29984 bytes
crowdbotsim/urdf/meshes/HipRoll.stl | Bin 0 -> 27584 bytes
crowdbotsim/urdf/meshes/HipRoll_0.10.stl | Bin 0 -> 2784 bytes
crowdbotsim/urdf/meshes/KneePitch_0.10.stl | Bin 0 -> 6634 bytes
crowdbotsim/urdf/meshes/KneePitch_milky.stl | Bin 0 -> 13884 bytes
crowdbotsim/urdf/meshes/KneePitch_shiny.stl | Bin 0 -> 52684 bytes
crowdbotsim/urdf/meshes/LElbowRoll_0.10.stl | Bin 0 -> 1384 bytes
crowdbotsim/urdf/meshes/LElbowRoll_milky.stl | Bin 0 -> 6134 bytes
crowdbotsim/urdf/meshes/LElbowRoll_shiny.stl | Bin 0 -> 7334 bytes
crowdbotsim/urdf/meshes/LElbowYaw.stl | Bin 0 -> 22084 bytes
crowdbotsim/urdf/meshes/LElbowYaw_0.10.stl | Bin 0 -> 2284 bytes
crowdbotsim/urdf/meshes/LFinger11.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/LFinger12.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/LFinger13.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/LFinger21.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/LFinger22.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/LFinger23.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/LFinger31.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/LFinger32.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/LFinger33.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/LFinger41.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/LFinger42.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/LFinger43.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/LShoulderPitch.stl | Bin 0 -> 21884 bytes
.../urdf/meshes/LShoulderPitch_0.10.stl | Bin 0 -> 2184 bytes
.../urdf/meshes/LShoulderRoll_0.10.stl | Bin 0 -> 2184 bytes
.../urdf/meshes/LShoulderRoll_milky.stl | Bin 0 -> 15584 bytes
.../urdf/meshes/LShoulderRoll_shiny.stl | Bin 0 -> 6084 bytes
crowdbotsim/urdf/meshes/LThumb1.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/LThumb2.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/LWristYaw.stl | Bin 0 -> 104584 bytes
crowdbotsim/urdf/meshes/RElbowRoll_0.10.stl | Bin 0 -> 1384 bytes
crowdbotsim/urdf/meshes/RElbowRoll_milky.stl | Bin 0 -> 6134 bytes
crowdbotsim/urdf/meshes/RElbowRoll_shiny.stl | Bin 0 -> 7334 bytes
crowdbotsim/urdf/meshes/RElbowYaw.stl | Bin 0 -> 22084 bytes
crowdbotsim/urdf/meshes/RElbowYaw_0.10.stl | Bin 0 -> 2284 bytes
crowdbotsim/urdf/meshes/RFinger11.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/RFinger12.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/RFinger13.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/RFinger21.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/RFinger22.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/RFinger23.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/RFinger31.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/RFinger32.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/RFinger33.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/RFinger41.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/RFinger42.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/RFinger43.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/RShoulderPitch.stl | Bin 0 -> 21884 bytes
.../urdf/meshes/RShoulderPitch_0.10.stl | Bin 0 -> 2184 bytes
.../urdf/meshes/RShoulderRoll_0.10.stl | Bin 0 -> 2184 bytes
.../urdf/meshes/RShoulderRoll_milky.stl | Bin 0 -> 15584 bytes
.../urdf/meshes/RShoulderRoll_shiny.stl | Bin 0 -> 6084 bytes
crowdbotsim/urdf/meshes/RThumb1.stl | Bin 0 -> 16784 bytes
crowdbotsim/urdf/meshes/RThumb2.stl | Bin 0 -> 22284 bytes
crowdbotsim/urdf/meshes/RWristYaw.stl | Bin 0 -> 104584 bytes
crowdbotsim/urdf/meshes/Torso_0.10.stl | Bin 0 -> 5384 bytes
crowdbotsim/urdf/meshes/Torso_milky.stl | Bin 0 -> 26684 bytes
crowdbotsim/urdf/meshes/Torso_shiny.stl | Bin 0 -> 26484 bytes
crowdbotsim/urdf/meshes/Torso_transparent.stl | Bin 0 -> 484 bytes
crowdbotsim/urdf/meshes/WheelB.stl | Bin 0 -> 38084 bytes
crowdbotsim/urdf/meshes/WheelB_0.10.stl | Bin 0 -> 3884 bytes
crowdbotsim/urdf/meshes/WheelFL.stl | Bin 0 -> 38084 bytes
crowdbotsim/urdf/meshes/WheelFL_0.10.stl | Bin 0 -> 3884 bytes
crowdbotsim/urdf/meshes/WheelFR.stl | Bin 0 -> 38084 bytes
crowdbotsim/urdf/meshes/WheelFR_0.10.stl | Bin 0 -> 3884 bytes
crowdbotsim/urdf/resources/logoCB.png | Bin 0 -> 74765 bytes
124 files changed, 3194 insertions(+)
create mode 100644 crowdbotsim/JulietteY20MP_crowdbotsim.urdf
create mode 100644 crowdbotsim/meshes/HeadPitch_ears.stl
create mode 100644 crowdbotsim/meshes/HeadPitch_eyes.stl
create mode 100644 crowdbotsim/meshes/HeadPitch_milky.stl
create mode 100644 crowdbotsim/meshes/HeadPitch_shiny.stl
create mode 100644 crowdbotsim/meshes/HipPitch_milky.stl
create mode 100644 crowdbotsim/meshes/HipPitch_shiny.stl
create mode 100644 crowdbotsim/meshes/KneePitch_milky.stl
create mode 100644 crowdbotsim/meshes/KneePitch_shiny.stl
create mode 100644 crowdbotsim/meshes/LElbowRoll_milky.stl
create mode 100644 crowdbotsim/meshes/LElbowRoll_shiny.stl
create mode 100644 crowdbotsim/meshes/LShoulderRoll_milky.stl
create mode 100644 crowdbotsim/meshes/LShoulderRoll_shiny.stl
create mode 100644 crowdbotsim/meshes/RElbowRoll_milky.stl
create mode 100644 crowdbotsim/meshes/RElbowRoll_shiny.stl
create mode 100644 crowdbotsim/meshes/RShoulderRoll_milky.stl
create mode 100644 crowdbotsim/meshes/RShoulderRoll_shiny.stl
create mode 100644 crowdbotsim/meshes/Torso_milky.stl
create mode 100644 crowdbotsim/meshes/Torso_shiny.stl
create mode 100644 crowdbotsim/meshes/Torso_transparent.stl
create mode 100644 crowdbotsim/resources/logoCB.png
create mode 100644 crowdbotsim/tmp.txt
create mode 100644 crowdbotsim/urdf/meshes/HeadPitch_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/HeadPitch_ears.stl
create mode 100644 crowdbotsim/urdf/meshes/HeadPitch_eyes.stl
create mode 100644 crowdbotsim/urdf/meshes/HeadPitch_milky.stl
create mode 100644 crowdbotsim/urdf/meshes/HeadPitch_shiny.stl
create mode 100644 crowdbotsim/urdf/meshes/HeadYaw.stl
create mode 100644 crowdbotsim/urdf/meshes/HeadYaw_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/HipPitch_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/HipPitch_milky.stl
create mode 100644 crowdbotsim/urdf/meshes/HipPitch_shiny.stl
create mode 100644 crowdbotsim/urdf/meshes/HipRoll.stl
create mode 100644 crowdbotsim/urdf/meshes/HipRoll_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/KneePitch_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/KneePitch_milky.stl
create mode 100644 crowdbotsim/urdf/meshes/KneePitch_shiny.stl
create mode 100644 crowdbotsim/urdf/meshes/LElbowRoll_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/LElbowRoll_milky.stl
create mode 100644 crowdbotsim/urdf/meshes/LElbowRoll_shiny.stl
create mode 100644 crowdbotsim/urdf/meshes/LElbowYaw.stl
create mode 100644 crowdbotsim/urdf/meshes/LElbowYaw_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger11.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger12.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger13.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger21.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger22.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger23.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger31.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger32.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger33.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger41.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger42.stl
create mode 100644 crowdbotsim/urdf/meshes/LFinger43.stl
create mode 100644 crowdbotsim/urdf/meshes/LShoulderPitch.stl
create mode 100644 crowdbotsim/urdf/meshes/LShoulderPitch_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/LShoulderRoll_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/LShoulderRoll_milky.stl
create mode 100644 crowdbotsim/urdf/meshes/LShoulderRoll_shiny.stl
create mode 100644 crowdbotsim/urdf/meshes/LThumb1.stl
create mode 100644 crowdbotsim/urdf/meshes/LThumb2.stl
create mode 100644 crowdbotsim/urdf/meshes/LWristYaw.stl
create mode 100644 crowdbotsim/urdf/meshes/RElbowRoll_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/RElbowRoll_milky.stl
create mode 100644 crowdbotsim/urdf/meshes/RElbowRoll_shiny.stl
create mode 100644 crowdbotsim/urdf/meshes/RElbowYaw.stl
create mode 100644 crowdbotsim/urdf/meshes/RElbowYaw_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger11.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger12.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger13.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger21.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger22.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger23.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger31.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger32.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger33.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger41.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger42.stl
create mode 100644 crowdbotsim/urdf/meshes/RFinger43.stl
create mode 100644 crowdbotsim/urdf/meshes/RShoulderPitch.stl
create mode 100644 crowdbotsim/urdf/meshes/RShoulderPitch_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/RShoulderRoll_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/RShoulderRoll_milky.stl
create mode 100644 crowdbotsim/urdf/meshes/RShoulderRoll_shiny.stl
create mode 100644 crowdbotsim/urdf/meshes/RThumb1.stl
create mode 100644 crowdbotsim/urdf/meshes/RThumb2.stl
create mode 100644 crowdbotsim/urdf/meshes/RWristYaw.stl
create mode 100644 crowdbotsim/urdf/meshes/Torso_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/Torso_milky.stl
create mode 100644 crowdbotsim/urdf/meshes/Torso_shiny.stl
create mode 100644 crowdbotsim/urdf/meshes/Torso_transparent.stl
create mode 100644 crowdbotsim/urdf/meshes/WheelB.stl
create mode 100644 crowdbotsim/urdf/meshes/WheelB_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/WheelFL.stl
create mode 100644 crowdbotsim/urdf/meshes/WheelFL_0.10.stl
create mode 100644 crowdbotsim/urdf/meshes/WheelFR.stl
create mode 100644 crowdbotsim/urdf/meshes/WheelFR_0.10.stl
create mode 100644 crowdbotsim/urdf/resources/logoCB.png
diff --git a/crowdbotsim/JulietteY20MP_crowdbotsim.urdf b/crowdbotsim/JulietteY20MP_crowdbotsim.urdf
new file mode 100644
index 0000000..1e926f4
--- /dev/null
+++ b/crowdbotsim/JulietteY20MP_crowdbotsim.urdf
@@ -0,0 +1,2219 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="JulietteY20MP_crowdbotsim">
+ <material name="defaultMat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="PepperWhiteBright">
+ <color rgba="1 1 1 1" />
+ </material>
+ <material name="HipRoll_GROUPE_01_JULIETT.000Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="HeadYaw_JULIETTE_TETE_GROUPE_Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="PepperBlackMat">
+ <color rgba="0.1471 0.1471 0.1471 1" />
+ </material>
+ <material name="PepperBlueMat">
+ <color rgba="0.2564 0.3478 0.6838 1" />
+ </material>
+ <material name="logoCB2">
+ <texture filename="package://crowdbotsim/resources/logoCB.png" />
+ </material>
+ <material name="LShoulderPitch_JULIETTE_BRAS_DR_.001Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LElbowYaw_JULIETTE_AV_BRAS_.026Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger21_JULIETTE_AV_BRAS_.077Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger22_JULIETTE_AV_BRAS_.078Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger23_JULIETTE_AV_BRAS_.079Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger11_JULIETTE_AV_BRAS_.075Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger12_JULIETTE_AV_BRAS_.076Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger13_JULIETTE_AV_BRAS_.010Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger41_JULIETTE_AV_BRAS_.083Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger42_JULIETTE_AV_BRAS_.084Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger43_JULIETTE_AV_BRAS_.085Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger31_JULIETTE_AV_BRAS_.080Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger32_JULIETTE_AV_BRAS_.081Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LFinger33_JULIETTE_AV_BRAS_.082Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LThumb1_JULIETTE_AV_BRAS_.086Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="LThumb2_JULIETTE_AV_BRAS_.087Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RShoulderPitch_JULIETTE_BRAS_DR_ALLMat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RElbowYaw_JULIETTE_AV_BRAS_.003Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger41_JULIETTE_AV_BRAS_.099Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger42_JULIETTE_AV_BRAS_.100Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger43_JULIETTE_AV_BRAS_.101Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger31_JULIETTE_AV_BRAS_.096Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger32_JULIETTE_AV_BRAS_.097Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger33_JULIETTE_AV_BRAS_.098Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger21_JULIETTE_AV_BRAS_.093Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger22_JULIETTE_AV_BRAS_.094Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger23_JULIETTE_AV_BRAS_.095Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger11_JULIETTE_AV_BRAS_.090Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger12_JULIETTE_AV_BRAS_.091Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RFinger13_JULIETTE_AV_BRAS_.092Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RThumb1_JULIETTE_AV_BRAS_.088Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="RThumb2_JULIETTE_AV_BRAS_.089Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="WheelFL_GROUPE_01_JULIETT.003Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="WheelB_GROUPE_01_JULIETT.004Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <material name="WheelFR_GROUPE_01_JULIETT.002Mat">
+ <color rgba="0.8 0.8 0.8 1" />
+ </material>
+ <link name="base_link">
+ <inertial>
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+ <mesh filename="package://crowdbotsim/meshes/RThumb1.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ </collision>
+ </link>
+ <link name="RThumb2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="0.0020000001" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ <visual>
+ <origin rpy="-1.57 0 0" />
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RThumb2.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ <material name="RThumb2_JULIETTE_AV_BRAS_.089Mat" />
+ </visual>
+ <collision>
+ <origin rpy="-1.57 0 0" />
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RThumb2.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ </collision>
+ </link>
+ <link name="ImuTorsoAccelerometer_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="ImuTorsoGyrometer_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="Tablet_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="ChestButton_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="HipPitch_shiny">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0.268" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0.268" />
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HipPitch_shiny.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ <material name="defaultMat" />
+ </visual>
+ </link>
+ <link name="KneePitch_milky">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/KneePitch_milky.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ <material name="PepperWhiteBright" />
+ </visual>
+ </link>
+ <link name="SonarBack_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="VerticalLeftLaser_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="SurroundingFrontLaser_device_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="BumperB_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="SurroundingLeftLaser_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="ShovelLaser_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="SurroundingRightLaser_device_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="SurroundingLeftLaser_device_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="SurroundingRightLaser_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="VerticalRightLaser_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="SonarFront_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="BumperFL_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="ImuBaseAccelerometer_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="BumperFR_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="SurroundingFrontLaser_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1E-07" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ </link>
+ <link name="WheelFL_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1.5802799463" />
+ <inertia ixx="0.00296489312313497" ixy="5.12017209075566E-07" ixz="8.84578668092217E-08" iyy="0.00299945333972573" iyz="5.60776925340178E-06" izz="0.00303135369904339" />
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelFL.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ <material name="WheelFL_GROUPE_01_JULIETT.003Mat" />
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelFL_0.10.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ </collision>
+ </link>
+ <link name="WheelB_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1.5802799463" />
+ <inertia ixx="0.00296489312313497" ixy="5.12017209075566E-07" ixz="8.84578668092217E-08" iyy="0.00299945333972573" iyz="5.60776925340178E-06" izz="0.00303135369904339" />
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelB.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ <material name="WheelB_GROUPE_01_JULIETT.004Mat" />
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelB_0.10.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ </collision>
+ </link>
+ <link name="WheelFR_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1.5802799463" />
+ <inertia ixx="0.00296489312313497" ixy="5.12017209075566E-07" ixz="8.84578668092217E-08" iyy="0.00299945333972573" iyz="5.60776925340178E-06" izz="0.00303135369904339" />
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelFR.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ <material name="WheelFR_GROUPE_01_JULIETT.002Mat" />
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelFR_0.10.stl" scale="0.1 0.1 0.1" />
+ </geometry>
+ </collision>
+ </link>
+ <link name="sick_laser_rear">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="0.1000000015" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ <visual>
+ <geometry>
+ <box size="0.05 0.05 0.05" />
+ </geometry>
+ <material name="PepperBlackMat" />
+ </visual>
+ </link>
+ <link name="sick_laser_front">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="0.1000000015" />
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ </inertial>
+ <visual>
+ <geometry>
+ <box size="0.05 0.05 0.05" />
+ </geometry>
+ <material name="PepperBlackMat" />
+ </visual>
+ </link>
+ <joint name="base_link_joint" type="fixed">
+ <parent link="base_link" />
+ <child link="base_footprint" />
+ </joint>
+ <joint name="base_footprint_joint" type="fixed">
+ <origin xyz="0 0 0.334" />
+ <parent link="base_footprint" />
+ <child link="Tibia" />
+ </joint>
+ <joint name="KneePitch" type="revolute">
+ <parent link="Tibia" />
+ <child link="Pelvis" />
+ <axis xyz="0 -1 0" />
+ <limit lower="-0.514872" upper="0.514872" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="HipPitch" type="revolute">
+ <origin xyz="0 0 0.268" />
+ <parent link="Pelvis" />
+ <child link="Hip" />
+ <axis xyz="0 -1 0" />
+ <limit lower="-1.03847" upper="1.03847" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="HipRoll" type="revolute">
+ <origin xyz="-2E-05 0 0.079" />
+ <parent link="Hip" />
+ <child link="torso" />
+ <axis xyz="-1 0 0" />
+ <limit lower="-0.514872" upper="0.514872" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="HeadYaw" type="revolute">
+ <origin xyz="-0.038 0 0.3089" />
+ <parent link="torso" />
+ <child link="Neck" />
+ <axis xyz="0 0 1" />
+ <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="HeadPitch" type="revolute">
+ <parent link="Neck" />
+ <child link="Head" />
+ <axis xyz="0 1 0" />
+ <limit lower="-0.706858" upper="0.637045" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="HeadPitch_milky_joint" type="fixed">
+ <parent link="Head" />
+ <child link="HeadPitch_milky" />
+ </joint>
+ <joint name="HeadPitch_ears_joint" type="fixed">
+ <parent link="Head" />
+ <child link="HeadPitch_ears" />
+ </joint>
+ <joint name="HeadPitch_shiny_joint" type="fixed">
+ <parent link="Head" />
+ <child link="HeadPitch_shiny" />
+ </joint>
+ <joint name="SpeakerRight_sensor_fixedjoint" type="fixed">
+ <parent link="Head" />
+ <child link="RSpeaker_frame" />
+ </joint>
+ <joint name="SpeakerLeft_sensor_fixedjoint" type="fixed">
+ <parent link="Head" />
+ <child link="LSpeaker_frame" />
+ </joint>
+ <joint name="CameraTop_sensor_fixedjoint" type="fixed">
+ <origin xyz="0.08601 0 0.16284" />
+ <parent link="Head" />
+ <child link="CameraTop_frame" />
+ </joint>
+ <joint name="CameraTop_optical_frame_fixedjoint" type="fixed">
+ <origin rpy="-1.570796 0 -1.570796" />
+ <parent link="CameraTop_frame" />
+ <child link="CameraTop_optical_frame" />
+ </joint>
+ <joint name="CameraDepth_sensor_fixedjoint" type="fixed">
+ <origin xyz="0.05138 0.039 0.1194" />
+ <parent link="Head" />
+ <child link="CameraDepth_frame" />
+ </joint>
+ <joint name="CameraDepth_optical_frame_fixedjoint" type="fixed">
+ <origin rpy="-1.570796 0 -1.570796" />
+ <parent link="CameraDepth_frame" />
+ <child link="CameraDepth_optical_frame" />
+ </joint>
+ <joint name="Head/Touch/Front_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0.20944 0" xyz="0.028175 0 0.21267" />
+ <parent link="Head" />
+ <child link="HeadTouchFront_frame" />
+ </joint>
+ <joint name="CameraBottom_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0.698132 0" xyz="0.09262 0 0.06177" />
+ <parent link="Head" />
+ <child link="CameraBottom_frame" />
+ </joint>
+ <joint name="CameraBottom_optical_frame_fixedjoint" type="fixed">
+ <origin rpy="-1.570796 0 -1.570796" />
+ <parent link="CameraBottom_frame" />
+ <child link="CameraBottom_optical_frame" />
+ </joint>
+ <joint name="Head/Touch/Rear_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 5.969026 0" xyz="-0.03376 0 0.21052" />
+ <parent link="Head" />
+ <child link="HeadTouchRear_frame" />
+ </joint>
+ <joint name="Head/Touch/Middle_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 6.248279 0" xyz="0.0041 0 0.2159" />
+ <parent link="Head" />
+ <child link="HeadTouchMiddle_frame" />
+ </joint>
+ <joint name="Torso_shiny_joint" type="fixed">
+ <origin xyz="0 0 0.0695" />
+ <parent link="torso" />
+ <child link="Torso_shiny" />
+ </joint>
+ <joint name="Torso_transparent_joint" type="fixed">
+ <origin xyz="0 0 0.0695" />
+ <parent link="torso" />
+ <child link="Torso_transparent" />
+ </joint>
+ <joint name="LShoulderPitch" type="revolute">
+ <origin xyz="-0.057 0.14974 0.22582" />
+ <parent link="torso" />
+ <child link="LShoulder" />
+ <axis xyz="0 1 0" />
+ <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LShoulderRoll" type="revolute">
+ <parent link="LShoulder" />
+ <child link="LBicep" />
+ <axis xyz="0 0 1" />
+ <limit lower="0.008727" upper="1.56207" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LShoulderRoll_shiny_joint" type="fixed">
+ <parent link="LBicep" />
+ <child link="LShoulderRoll_shiny" />
+ </joint>
+ <joint name="LElbowYaw" type="revolute">
+ <origin rpy="0 6.126106 0" xyz="0.1812 0.015 0.00013" />
+ <parent link="LBicep" />
+ <child link="LElbow" />
+ <axis xyz="1 0 0" />
+ <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LElbowRoll" type="revolute">
+ <parent link="LElbow" />
+ <child link="LForeArm" />
+ <axis xyz="0 0 1" />
+ <limit lower="-1.56207" upper="-0.008727" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LElbowRoll_milky_joint" type="fixed">
+ <parent link="LForeArm" />
+ <child link="LElbowRoll_milky" />
+ </joint>
+ <joint name="LWristYaw" type="revolute">
+ <origin xyz="0.15 0 0" />
+ <parent link="LForeArm" />
+ <child link="l_wrist" />
+ <axis xyz="1 0 0" />
+ <limit lower="-1.82387" upper="1.82387" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LHand" type="revolute">
+ <origin xyz="0.025 0 0" />
+ <parent link="l_wrist" />
+ <child link="l_gripper" />
+ <axis xyz="1 0 0" />
+ <limit lower="0.02" upper="0.98" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LHand/Touch/Back_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 4.712389 -1.570786" xyz="0.0523 0 0.0304" />
+ <parent link="l_wrist" />
+ <child link="LHandTouchBack_frame" />
+ </joint>
+ <joint name="LFinger21" type="revolute">
+ <origin rpy="-4.712385 1.0472 -0.061086" xyz="0.0873 -0.0073 0.006" />
+ <parent link="l_wrist" />
+ <child link="LFinger21_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger22" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="LFinger21_link" />
+ <child link="LFinger22_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger23" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="LFinger22_link" />
+ <child link="LFinger23_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger11" type="revolute">
+ <origin rpy="-4.539165 1.04064 -0.033433" xyz="0.0821 -0.0268 0.004" />
+ <parent link="l_wrist" />
+ <child link="LFinger11_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger12" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="LFinger11_link" />
+ <child link="LFinger12_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger13" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="LFinger12_link" />
+ <child link="LFinger13_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger41" type="revolute">
+ <origin rpy="-4.885615 1.04064 -6.214846" xyz="0.074 0.0309 0" />
+ <parent link="l_wrist" />
+ <child link="LFinger41_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger42" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="LFinger41_link" />
+ <child link="LFinger42_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger43" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="LFinger42_link" />
+ <child link="LFinger43_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger31" type="revolute">
+ <origin rpy="-4.816825 1.04483 -0.029314" xyz="0.0833 0.0123 0.004" />
+ <parent link="l_wrist" />
+ <child link="LFinger31_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger32" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="LFinger31_link" />
+ <child link="LFinger32_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LFinger33" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="LFinger32_link" />
+ <child link="LFinger33_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LThumb1" type="revolute">
+ <origin rpy="-2.55836 0.80626 -5.749207" xyz="0.0482 -0.0357 -0.0199" />
+ <parent link="l_wrist" />
+ <child link="LThumb1_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="LThumb2" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.022 0 0" />
+ <parent link="LThumb1_link" />
+ <child link="LThumb2_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RShoulderPitch" type="revolute">
+ <origin xyz="-0.057 -0.14974 0.22582" />
+ <parent link="torso" />
+ <child link="RShoulder" />
+ <axis xyz="0 1 0" />
+ <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RShoulderRoll" type="revolute">
+ <parent link="RShoulder" />
+ <child link="RBicep" />
+ <axis xyz="0 0 1" />
+ <limit lower="-1.56207" upper="-0.008727" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RShoulderRoll_shiny_joint" type="fixed">
+ <parent link="RBicep" />
+ <child link="RShoulderRoll_shiny" />
+ </joint>
+ <joint name="RElbowYaw" type="revolute">
+ <origin rpy="0 6.126106 0" xyz="0.1812 -0.015 0.00013" />
+ <parent link="RBicep" />
+ <child link="RElbow" />
+ <axis xyz="1 0 0" />
+ <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RElbowRoll" type="revolute">
+ <parent link="RElbow" />
+ <child link="RForeArm" />
+ <axis xyz="0 0 1" />
+ <limit lower="0.008727" upper="1.56207" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RElbowRoll_milky_joint" type="fixed">
+ <parent link="RForeArm" />
+ <child link="RElbowRoll_milky" />
+ </joint>
+ <joint name="RWristYaw" type="revolute">
+ <origin xyz="0.15 0 0" />
+ <parent link="RForeArm" />
+ <child link="r_wrist" />
+ <axis xyz="1 0 0" />
+ <limit lower="-1.82387" upper="1.82387" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RHand" type="revolute">
+ <origin xyz="0.025 0 0" />
+ <parent link="r_wrist" />
+ <child link="r_gripper" />
+ <axis xyz="1 0 0" />
+ <limit lower="0.02" upper="0.98" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RHand/Touch/Back_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 4.712389 -1.570786" xyz="0.0523 0 0.0304" />
+ <parent link="r_wrist" />
+ <child link="RHandTouchBack_frame" />
+ </joint>
+ <joint name="RFinger41" type="revolute">
+ <origin rpy="-4.539165 1.04064 -0.06834" xyz="0.074 -0.0309 0" />
+ <parent link="r_wrist" />
+ <child link="RFinger41_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger42" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="RFinger41_link" />
+ <child link="RFinger42_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger43" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="RFinger42_link" />
+ <child link="RFinger43_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger31" type="revolute">
+ <origin rpy="-4.607955 1.04483 -6.253869" xyz="0.0833 -0.0123 0.004" />
+ <parent link="r_wrist" />
+ <child link="RFinger31_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger32" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="RFinger31_link" />
+ <child link="RFinger32_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger33" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="RFinger32_link" />
+ <child link="RFinger33_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger21" type="revolute">
+ <origin rpy="-4.712386 1.0472 -6.222099" xyz="0.0873 0.0073 0.006" />
+ <parent link="r_wrist" />
+ <child link="RFinger21_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger22" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="RFinger21_link" />
+ <child link="RFinger22_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger23" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="RFinger22_link" />
+ <child link="RFinger23_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger11" type="revolute">
+ <origin rpy="-4.885615 1.04064 -6.249752" xyz="0.0821 0.0268 0.004" />
+ <parent link="r_wrist" />
+ <child link="RFinger11_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger12" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="RFinger11_link" />
+ <child link="RFinger12_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RFinger13" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0" />
+ <parent link="RFinger12_link" />
+ <child link="RFinger13_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RThumb1" type="revolute">
+ <origin rpy="-0.58323 0.80626 -0.533978" xyz="0.0482 0.0357 -0.0199" />
+ <parent link="r_wrist" />
+ <child link="RThumb1_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="RThumb2" type="revolute">
+ <origin rpy="0 0 -1.0472" xyz="0.022 0 0" />
+ <parent link="RThumb1_link" />
+ <child link="RThumb2_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="0" upper="0.872665" effort="1000" velocity="1000" />
+ </joint>
+ <joint name="Accelerometer_sensor_fixedjoint" type="fixed">
+ <origin xyz="0.00239 -0.03575 0.14526" />
+ <parent link="torso" />
+ <child link="ImuTorsoAccelerometer_frame" />
+ </joint>
+ <joint name="Gyrometer_sensor_fixedjoint" type="fixed">
+ <origin xyz="0.00204 -0.03491 0.12941" />
+ <parent link="torso" />
+ <child link="ImuTorsoGyrometer_frame" />
+ </joint>
+ <joint name="Tablet_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 5.759586 0" xyz="0.083925 0 0.20151" />
+ <parent link="torso" />
+ <child link="Tablet_frame" />
+ </joint>
+ <joint name="ChestBoard/Button_sensor_fixedjoint" type="fixed">
+ <origin xyz="0.049871 0.001588 0.194163" />
+ <parent link="torso" />
+ <child link="ChestButton_frame" />
+ </joint>
+ <joint name="HipPitch_shiny_joint" type="fixed">
+ <parent link="Pelvis" />
+ <child link="HipPitch_shiny" />
+ </joint>
+ <joint name="KneePitch_milky_joint" type="fixed">
+ <parent link="Tibia" />
+ <child link="KneePitch_milky" />
+ </joint>
+ <joint name="Sonar/Back_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 6.073747 -3.14159" xyz="-0.0718 0 -0.0534" />
+ <parent link="Tibia" />
+ <child link="SonarBack_frame" />
+ </joint>
+ <joint name="LaserSensor/VerticalLeft_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" />
+ <parent link="Tibia" />
+ <child link="VerticalLeftLaser_frame" />
+ </joint>
+ <joint name="LaserSensor/Front_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" />
+ <parent link="Tibia" />
+ <child link="SurroundingFrontLaser_device_frame" />
+ </joint>
+ <joint name="Bumper/Back_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0 -3.14159" xyz="-0.251 0 -0.264" />
+ <parent link="Tibia" />
+ <child link="BumperB_frame" />
+ </joint>
+ <joint name="LaserSensor/Left_projected_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0 -4.525905" xyz="-0.018 0.0899 -0.334" />
+ <parent link="Tibia" />
+ <child link="SurroundingLeftLaser_frame" />
+ </joint>
+ <joint name="LaserSensor/Shovel_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" />
+ <parent link="Tibia" />
+ <child link="ShovelLaser_frame" />
+ </joint>
+ <joint name="LaserSensor/Right_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0.349066 -1.5708" xyz="-0.018 -0.0899 -0.0759" />
+ <parent link="Tibia" />
+ <child link="SurroundingRightLaser_device_frame" />
+ </joint>
+ <joint name="LaserSensor/Left_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0.349066 -4.712386" xyz="-0.018 0.0899 -0.0759" />
+ <parent link="Tibia" />
+ <child link="SurroundingLeftLaser_device_frame" />
+ </joint>
+ <joint name="LaserSensor/Right_projected_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0 -1.75728" xyz="-0.018 -0.0899 -0.334" />
+ <parent link="Tibia" />
+ <child link="SurroundingRightLaser_frame" />
+ </joint>
+ <joint name="LaserSensor/VerticalRight_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" />
+ <parent link="Tibia" />
+ <child link="VerticalRightLaser_frame" />
+ </joint>
+ <joint name="Sonar/Front_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 5.960327 0" xyz="0.0699 0 -0.1023" />
+ <parent link="Tibia" />
+ <child link="SonarFront_frame" />
+ </joint>
+ <joint name="Bumper/FrontLeft_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0 -5.794325" xyz="0.129 0.227 -0.264" />
+ <parent link="Tibia" />
+ <child link="BumperFL_frame" />
+ </joint>
+ <joint name="AccelerometerBase_sensor_fixedjoint" type="fixed">
+ <origin xyz="0.0147 -0.0017 -0.26319" />
+ <parent link="Tibia" />
+ <child link="ImuBaseAccelerometer_frame" />
+ </joint>
+ <joint name="Bumper/FrontRight_sensor_fixedjoint" type="fixed">
+ <origin rpy="0 0 -0.48886" xyz="0.129 -0.227 -0.264" />
+ <parent link="Tibia" />
+ <child link="BumperFR_frame" />
+ </joint>
+ <joint name="LaserSensor/Front_projected_sensor_fixedjoint" type="fixed">
+ <origin xyz="0.0562 0 -0.334" />
+ <parent link="Tibia" />
+ <child link="SurroundingFrontLaser_frame" />
+ </joint>
+ <joint name="WheelFL" type="continuous">
+ <origin rpy="0 0 -5.208015" xyz="0.09 0.155 -0.264" />
+ <parent link="Tibia" />
+ <child link="WheelFL_link" />
+ <axis xyz="1 0 0" />
+ </joint>
+ <joint name="WheelB" type="continuous">
+ <origin rpy="0 0 -3.14159" xyz="-0.17 0 -0.264" />
+ <parent link="Tibia" />
+ <child link="WheelB_link" />
+ <axis xyz="1 0 0" />
+ </joint>
+ <joint name="WheelFR" type="continuous">
+ <origin rpy="0 0 -1.07517" xyz="0.09 -0.155 -0.264" />
+ <parent link="Tibia" />
+ <child link="WheelFR_link" />
+ <axis xyz="1 0 0" />
+ </joint>
+ <joint name="sick_laser_rear" type="fixed">
+ <origin rpy="0 0 -3.141593" xyz="-0.245 0 -0.1" />
+ <parent link="Tibia" />
+ <child link="sick_laser_rear" />
+ </joint>
+ <joint name="sick_laser_front" type="fixed">
+ <origin xyz="0.245 0 -0.1" />
+ <parent link="Tibia" />
+ <child link="sick_laser_front" />
+ </joint>
+ <transmission name="HeadYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HeadYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HeadYaw_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="HeadPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HeadPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HeadPitch_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="LShoulderPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LShoulderPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LShoulderPitch_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="LShoulderRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LShoulderRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LShoulderRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="LElbowYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LElbowYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LElbowYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="LElbowRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LElbowRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LElbowRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="LWristYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LWristYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LWristYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="LHand_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LHand">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LHand_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>36.24</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="RShoulderPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RShoulderPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RShoulderPitch_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="RShoulderRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RShoulderRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RShoulderRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="RElbowYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RElbowYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RElbowYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="RElbowRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RElbowRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RElbowRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="RWristYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RWristYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RWristYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="RHand_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RHand">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RHand_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>36.24</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="HipRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HipRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HipRoll_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>108.33</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="HipPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HipPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HipPitch_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>108.33</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="KneePitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="KneePitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="KneePitch_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>108.33</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="WheelFL_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="WheelFL">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="WheelFL_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>25.0</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="WheelB_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="WheelB">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="WheelB_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>25.0</mechanicalReduction>
+ </actuator>
+</transmission>
+<transmission name="WheelFR_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="WheelFR">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="WheelFR_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>25.0</mechanicalReduction>
+ </actuator>
+</transmission>
+</robot>
\ No newline at end of file
diff --git a/crowdbotsim/meshes/HeadPitch_0.10.stl b/crowdbotsim/meshes/HeadPitch_0.10.stl
index 1a8d3f5988b918d40f8739892bf78902ee01a234..3bc2e3cd52a3e8636ec83619e2537f4f35ba94aa 100644
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diff --git a/crowdbotsim/meshes/HeadPitch_ears.stl b/crowdbotsim/meshes/HeadPitch_ears.stl
new file mode 100644
index 0000000000000000000000000000000000000000..dbd2509d7ea26ebdf61c95bfd87813262db72fc9
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diff --git a/crowdbotsim/meshes/HeadPitch_shiny.stl b/crowdbotsim/meshes/HeadPitch_shiny.stl
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diff --git a/crowdbotsim/meshes/HeadYaw.stl b/crowdbotsim/meshes/HeadYaw.stl
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index 1d3ade37044f4be00c47c96269b4b6fa557fa7b0..a76e7f1e9d185c2044ddf10d483928faecf04723 100644
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diff --git a/crowdbotsim/meshes/HipRoll.stl b/crowdbotsim/meshes/HipRoll.stl
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diff --git a/crowdbotsim/meshes/KneePitch_0.10.stl b/crowdbotsim/meshes/KneePitch_0.10.stl
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diff --git a/crowdbotsim/meshes/LElbowRoll_0.10.stl b/crowdbotsim/meshes/LElbowRoll_0.10.stl
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diff --git a/crowdbotsim/meshes/LElbowRoll_shiny.stl b/crowdbotsim/meshes/LElbowRoll_shiny.stl
new file mode 100644
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diff --git a/crowdbotsim/meshes/LElbowYaw.stl b/crowdbotsim/meshes/LElbowYaw.stl
index 1b0de445832eb0dca2d6a4535087a66f82b39ca5..342db1d4dacfa290f4b9af74e87e0c51ca6bf20d 100644
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diff --git a/crowdbotsim/meshes/RShoulderRoll_milky.stl b/crowdbotsim/meshes/RShoulderRoll_milky.stl
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diff --git a/crowdbotsim/meshes/Torso_transparent.stl b/crowdbotsim/meshes/Torso_transparent.stl
new file mode 100644
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diff --git a/crowdbotsim/meshes/WheelB.stl b/crowdbotsim/meshes/WheelB.stl
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diff --git a/crowdbotsim/meshes/WheelB_0.10.stl b/crowdbotsim/meshes/WheelB_0.10.stl
index f73e2c874994d28e716d7372319d696209fa5039..66ed4c8dbcb652d6843e160b0f77b058e97c059b 100644
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diff --git a/crowdbotsim/meshes/WheelFL.stl b/crowdbotsim/meshes/WheelFL.stl
index 3351aa544ba51194bd3cb491aa99834dd9900ad7..c2c14daecde493948ece76393d043e67c1bdf52f 100644
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diff --git a/crowdbotsim/meshes/WheelFR_0.10.stl b/crowdbotsim/meshes/WheelFR_0.10.stl
index 06d6f3db59e86bf9bf338f03b959da656f39e4b0..9067c7ca2253771caf2af5a81256944614076448 100644
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diff --git a/crowdbotsim/tmp.txt b/crowdbotsim/tmp.txt
new file mode 100644
index 0000000..bf575a2
--- /dev/null
+++ b/crowdbotsim/tmp.txt
@@ -0,0 +1,975 @@
+"<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<robot name=\"JulietteY20MP_crowdbotsim\"\
+ >\n <material name=\"defaultMat\">\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n\
+ \ <material name=\"PepperWhiteBright\">\n <color rgba=\"1 1 1 1\" />\n </material>\n\
+ \ <material name=\"HipRoll_GROUPE_01_JULIETT.000Mat\">\n <color rgba=\"0.8 0.8\
+ \ 0.8 1\" />\n </material>\n <material name=\"HeadYaw_JULIETTE_TETE_GROUPE_Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"PepperBlackMat\"\
+ >\n <color rgba=\"0.1471 0.1471 0.1471 1\" />\n </material>\n <material name=\"\
+ PepperBlueMat\">\n <color rgba=\"0.2564 0.3478 0.6838 1\" />\n </material>\n\
+ \ <material name=\"logoCB2\">\n <texture filename=\"package://resources/logoCB.png\"\
+ \ />\n </material>\n <material name=\"LShoulderPitch_JULIETTE_BRAS_DR_.001Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LElbowYaw_JULIETTE_AV_BRAS_.026Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger21_JULIETTE_AV_BRAS_.077Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger22_JULIETTE_AV_BRAS_.078Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger23_JULIETTE_AV_BRAS_.079Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger11_JULIETTE_AV_BRAS_.075Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger12_JULIETTE_AV_BRAS_.076Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger13_JULIETTE_AV_BRAS_.010Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger41_JULIETTE_AV_BRAS_.083Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger42_JULIETTE_AV_BRAS_.084Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger43_JULIETTE_AV_BRAS_.085Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger31_JULIETTE_AV_BRAS_.080Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger32_JULIETTE_AV_BRAS_.081Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LFinger33_JULIETTE_AV_BRAS_.082Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LThumb1_JULIETTE_AV_BRAS_.086Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"LThumb2_JULIETTE_AV_BRAS_.087Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RShoulderPitch_JULIETTE_BRAS_DR_ALLMat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RElbowYaw_JULIETTE_AV_BRAS_.003Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger41_JULIETTE_AV_BRAS_.099Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger42_JULIETTE_AV_BRAS_.100Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger43_JULIETTE_AV_BRAS_.101Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger31_JULIETTE_AV_BRAS_.096Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger32_JULIETTE_AV_BRAS_.097Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger33_JULIETTE_AV_BRAS_.098Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger21_JULIETTE_AV_BRAS_.093Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger22_JULIETTE_AV_BRAS_.094Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger23_JULIETTE_AV_BRAS_.095Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger11_JULIETTE_AV_BRAS_.090Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger12_JULIETTE_AV_BRAS_.091Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RFinger13_JULIETTE_AV_BRAS_.092Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RThumb1_JULIETTE_AV_BRAS_.088Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"RThumb2_JULIETTE_AV_BRAS_.089Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"WheelFL_GROUPE_01_JULIETT.003Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"WheelB_GROUPE_01_JULIETT.004Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"WheelFR_GROUPE_01_JULIETT.002Mat\"\
+ >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <link name=\"base_link\"\
+ >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\
+ 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\
+ 1\" />\n </inertial>\n </link>\n <link name=\"base_footprint\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"Tibia\">\n <inertial>\n <origin\
+ \ rpy=\"0 0 0\" xyz=\"0.002205 0 0.082271\" />\n <mass value=\"11.6014995575\"\
+ \ />\n <inertia ixx=\"0.129179716110229\" ixy=\"0.000148943698150106\" ixz=\"\
+ -0.00131446425803006\" iyy=\"0.122817315161228\" iyz=\"-6.18266966512238E-08\" izz=\"\
+ 0.108239002525806\" />\n </inertial>\n <visual>\n <geometry>\n \
+ \ <mesh filename=\"package://meshes/KneePitch_shiny.stl\" scale=\"0.1 0.1 0.1\"\
+ \ />\n </geometry>\n <material name=\"defaultMat\" />\n </visual>\n\
+ \ <collision>\n <geometry>\n <mesh filename=\"package://meshes/KneePitch_0.10.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\
+ \ name=\"Pelvis\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0.00237 0\
+ \ -0.01754\" />\n <mass value=\"2.4591701031\" />\n <inertia ixx=\"0.0343529880046844\"\
+ \ ixy=\"4.50889419880696E-05\" ixz=\"-4.85995178678422E-06\" iyy=\"0.0303127057850361\"\
+ \ iyz=\"-8.37638581288047E-05\" izz=\"0.0143746118992567\" />\n </inertial>\n\
+ \ <visual>\n <origin xyz=\"0 0 0.268\" />\n <geometry>\n <mesh\
+ \ filename=\"package://meshes/HipPitch_milky.stl\" scale=\"0.1 0.1 0.1\" />\n \
+ \ </geometry>\n <material name=\"PepperWhiteBright\" />\n </visual>\n\
+ \ <collision>\n <origin xyz=\"0 0 0.268\" />\n <geometry>\n \
+ \ <mesh filename=\"package://meshes/HipPitch_0.10.stl\" scale=\"0.1 0.1 0.1\" />\n\
+ \ </geometry>\n </collision>\n </link>\n <link name=\"Hip\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0.00032 0 -0.07068\" />\n <mass value=\"\
+ 1.0233800411\" />\n <inertia ixx=\"0.00440107891336083\" ixy=\"4.93292791361455E-05\"\
+ \ ixz=\"-4.91466471430613E-06\" iyy=\"0.00502362661063671\" iyz=\"5.6753218814265E-05\"\
+ \ izz=\"0.00642004469409585\" />\n </inertial>\n <visual>\n <origin xyz=\"\
+ 0 0 0.079\" />\n <geometry>\n <mesh filename=\"package://meshes/HipRoll.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"HipRoll_GROUPE_01_JULIETT.000Mat\"\
+ \ />\n </visual>\n <collision>\n <origin xyz=\"0 0 0.079\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/HipRoll_0.10.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ torso\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0.00322 0 0.12871\"\
+ \ />\n <mass value=\"3.9953300953\" />\n <inertia ixx=\"0.0462998189032078\"\
+ \ ixy=\"0.000730161496903747\" ixz=\"-0.000433180946856737\" iyy=\"0.0434471257030964\"\
+ \ iyz=\"-0.00027618368039839\" izz=\"0.0246874690055847\" />\n </inertial>\n\
+ \ <visual>\n <origin xyz=\"0 0 0.139\" />\n <geometry>\n <mesh\
+ \ filename=\"package://meshes/Torso_milky.stl\" scale=\"0.1 0.1 0.1\" />\n \
+ \ </geometry>\n <material name=\"PepperWhiteBright\" />\n </visual>\n \
+ \ <collision>\n <origin xyz=\"0 0 0.139\" />\n <geometry>\n <mesh\
+ \ filename=\"package://meshes/Torso_0.10.stl\" scale=\"0.1 0.1 0.1\" />\n </geometry>\n\
+ \ </collision>\n </link>\n <link name=\"Neck\">\n <inertial>\n <origin\
+ \ rpy=\"0 0 0\" xyz=\"-0.00207 0 -0.02636\" />\n <mass value=\"0.273909986\"\
+ \ />\n <inertia ixx=\"0.000247044081334025\" ixy=\"-2.66084553004475E-05\"\
+ \ ixz=\"7.60054826969281E-05\" iyy=\"0.000340656319167465\" iyz=\"3.71161549992394E-05\"\
+ \ izz=\"0.000464950891910121\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/HeadYaw.stl\" scale=\"0.1 0.1 0.1\" />\n\
+ \ </geometry>\n <material name=\"HeadYaw_JULIETTE_TETE_GROUPE_Mat\" />\n\
+ \ </visual>\n <collision>\n <geometry>\n <mesh filename=\"package://meshes/HeadYaw_0.10.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\
+ \ name=\"Head\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0.00312 0 0.11152\"\
+ \ />\n <mass value=\"1.5189299583\" />\n <inertia ixx=\"0.00600580452010036\"\
+ \ ixy=\"3.95542592741549E-05\" ixz=\"5.45834609511076E-07\" iyy=\"0.00592098152264953\"\
+ \ iyz=\"4.83686221741664E-07\" izz=\"0.00565444212406874\" />\n </inertial>\n\
+ \ <visual>\n <geometry>\n <mesh filename=\"package://meshes/HeadPitch_eyes.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"PepperBlackMat\"\
+ \ />\n </visual>\n <collision>\n <geometry>\n <mesh filename=\"\
+ package://meshes/HeadPitch_0.10.stl\" scale=\"0.1 0.1 0.1\" />\n </geometry>\n\
+ \ </collision>\n </link>\n <link name=\"HeadPitch_milky\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n <visual>\n <geometry>\n <mesh filename=\"package://meshes/HeadPitch_milky.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"defaultMat\"\
+ \ />\n </visual>\n </link>\n <link name=\"HeadPitch_ears\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n <visual>\n <geometry>\n <mesh filename=\"package://meshes/HeadPitch_ears.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"PepperBlueMat\"\
+ \ />\n </visual>\n </link>\n <link name=\"HeadPitch_shiny\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n <visual>\n <geometry>\n <mesh filename=\"package://meshes/HeadPitch_shiny.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"PepperWhiteBright\"\
+ \ />\n </visual>\n </link>\n <link name=\"RSpeaker_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"LSpeaker_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"CameraTop_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"CameraTop_optical_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"CameraDepth_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"CameraDepth_optical_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"HeadTouchFront_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"CameraBottom_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"CameraBottom_optical_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"HeadTouchRear_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"HeadTouchMiddle_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"Torso_shiny\">\n <inertial>\n \
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0.0695\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n <visual>\n <origin xyz=\"0 0 0.0695\" />\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/Torso_shiny.stl\" scale=\"0.1 0.1 0.1\"\
+ \ />\n </geometry>\n <material name=\"defaultMat\" />\n </visual>\n\
+ \ </link>\n <link name=\"Torso_transparent\">\n <inertial>\n <origin rpy=\"\
+ 0 0 0\" xyz=\"0 0 0.0695\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"\
+ 1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n\
+ \ <origin xyz=\"0 0 0.0695\" />\n <geometry>\n <mesh filename=\"\
+ package://meshes/Torso_transparent.stl\" scale=\"0.1 0.1 0.1\" />\n </geometry>\n\
+ \ <material name=\"logoCB2\" />\n </visual>\n </link>\n <link name=\"\
+ LShoulder\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0.00018 -0.01856\
+ \ 0.00099\" />\n <mass value=\"0.3125\" />\n <inertia ixx=\"0.000361108541255817\"\
+ \ ixy=\"-4.89721378471586E-06\" ixz=\"6.37525658930826E-07\" iyy=\"0.000137213835841976\"\
+ \ iyz=\"-2.2163221728988E-06\" izz=\"0.000399298907723278\" />\n </inertial>\n\
+ \ <visual>\n <geometry>\n <mesh filename=\"package://meshes/LShoulderPitch.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"LShoulderPitch_JULIETTE_BRAS_DR_.001Mat\"\
+ \ />\n </visual>\n <collision>\n <geometry>\n <mesh filename=\"\
+ package://meshes/LShoulderPitch_0.10.stl\" scale=\"0.1 0.1 0.1\" />\n </geometry>\n\
+ \ </collision>\n </link>\n <link name=\"LBicep\">\n <inertial>\n <origin\
+ \ rpy=\"0 0 0\" xyz=\"0.08151 0.01284 -0.01017\" />\n <mass value=\"0.5052700043\"\
+ \ />\n <inertia ixx=\"0.000738023722078651\" ixy=\"-0.00036056007957086\" ixz=\"\
+ -3.75016170437448E-05\" iyy=\"0.00101457489654422\" iyz=\"-7.86051896284334E-06\"\
+ \ izz=\"0.00116829376202077\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/LShoulderRoll_milky.stl\" scale=\"0.1\
+ \ 0.1 0.1\" />\n </geometry>\n <material name=\"PepperWhiteBright\" />\n\
+ \ </visual>\n <collision>\n <geometry>\n <mesh filename=\"package://meshes/LShoulderRoll_0.10.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\
+ \ name=\"LShoulderRoll_shiny\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"\
+ 0 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/LShoulderRoll_shiny.stl\" scale=\"0.1\
+ \ 0.1 0.1\" />\n </geometry>\n <material name=\"defaultMat\" />\n </visual>\n\
+ \ </link>\n <link name=\"LElbow\">\n <inertial>\n <origin rpy=\"0 0 0\"\
+ \ xyz=\"-0.02297 -0.00019 0.00119\" />\n <mass value=\"0.2749499977\" />\n\
+ \ <inertia ixx=\"0.000195854983758181\" ixy=\"-0.00010136554192286\" ixz=\"\
+ 1.06879879240296E-05\" iyy=\"0.000255356484558433\" iyz=\"2.80242579719925E-06\"\
+ \ izz=\"0.00030657253228128\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/LElbowYaw.stl\" scale=\"0.1 0.1 0.1\"\
+ \ />\n </geometry>\n <material name=\"LElbowYaw_JULIETTE_AV_BRAS_.026Mat\"\
+ \ />\n </visual>\n <collision>\n <geometry>\n <mesh filename=\"\
+ package://meshes/LElbowYaw_0.10.stl\" scale=\"0.1 0.1 0.1\" />\n </geometry>\n\
+ \ </collision>\n </link>\n <link name=\"LForeArm\">\n <inertial>\n \
+ \ <origin rpy=\"0 0 0\" xyz=\"0.0593 0.00271 -0.01014\" />\n <mass value=\"\
+ 0.1657900065\" />\n <inertia ixx=\"0.00048063401482068\" ixy=\"-0.000281982676824555\"\
+ \ ixz=\"0.000403846177505329\" iyy=\"0.00150039861910045\" iyz=\"0.00013955649046693\"\
+ \ izz=\"0.00158936984371394\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/LElbowRoll_shiny.stl\" scale=\"0.1 0.1\
+ \ 0.1\" />\n </geometry>\n <material name=\"defaultMat\" />\n </visual>\n\
+ \ <collision>\n <geometry>\n <mesh filename=\"package://meshes/LElbowRoll_0.10.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\
+ \ name=\"LElbowRoll_milky\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"\
+ 0 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/LElbowRoll_milky.stl\" scale=\"0.1 0.1\
+ \ 0.1\" />\n </geometry>\n <material name=\"PepperWhiteBright\" />\n \
+ \ </visual>\n </link>\n <link name=\"l_wrist\">\n <inertial>\n <origin\
+ \ rpy=\"0 0 0\" xyz=\"0.03536 -0.00072 -0.00207\" />\n <mass value=\"0.2755500078\"\
+ \ />\n <inertia ixx=\"0.000421455479227006\" ixy=\"1.13368487291154E-05\" ixz=\"\
+ -5.45127004443202E-05\" iyy=\"0.000426045298809186\" iyz=\"8.72357850312255E-05\"\
+ \ izz=\"0.000191413579159416\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/LWristYaw.stl\" scale=\"0.1 0.1 0.1\"\
+ \ />\n </geometry>\n <material name=\"PepperWhiteBright\" />\n </visual>\n\
+ \ <collision>\n <geometry>\n <mesh filename=\"package://meshes/LWristYaw.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\
+ \ name=\"l_gripper\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\
+ \ />\n <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\"\
+ \ ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link\
+ \ name=\"LHandTouchBack_frame\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"\
+ 0 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link name=\"\
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+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
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+ LFinger22_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
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+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
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+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger23_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
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+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"LFinger23_JULIETTE_AV_BRAS_.079Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger23.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger11_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
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+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger11.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger12_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
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+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger12.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger13_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
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+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"LFinger13_JULIETTE_AV_BRAS_.010Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger13.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger41_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
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+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"LFinger41_JULIETTE_AV_BRAS_.083Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger41.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger42_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
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+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"LFinger42_JULIETTE_AV_BRAS_.084Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger42.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger43_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
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+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger43.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger31_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
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+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"LFinger31_JULIETTE_AV_BRAS_.080Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger31.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger32_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/LFinger32.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"LFinger32_JULIETTE_AV_BRAS_.081Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger32.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LFinger33_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
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+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/LFinger33.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"LFinger33_JULIETTE_AV_BRAS_.082Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LFinger33.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ LThumb1_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
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+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LThumb1.stl\" scale=\"0.1\
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+ LThumb2_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
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+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"LThumb2_JULIETTE_AV_BRAS_.087Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/LThumb2.stl\" scale=\"0.1\
+ \ 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
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+ \ <mesh filename=\"package://meshes/RShoulderRoll_shiny.stl\" scale=\"0.1\
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+ package://meshes/RElbowYaw_0.10.stl\" scale=\"0.1 0.1 0.1\" />\n </geometry>\n\
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+ \ <origin rpy=\"0 0 0\" xyz=\"0.0593 -0.00271 -0.01014\" />\n <mass value=\"\
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+ \ <collision>\n <geometry>\n <mesh filename=\"package://meshes/RElbowRoll_0.10.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\
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+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/RElbowRoll_milky.stl\" scale=\"0.1 0.1\
+ \ 0.1\" />\n </geometry>\n <material name=\"PepperWhiteBright\" />\n \
+ \ </visual>\n </link>\n <link name=\"r_wrist\">\n <inertial>\n <origin\
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+ \ <mesh filename=\"package://meshes/RWristYaw.stl\" scale=\"0.1 0.1 0.1\"\
+ \ />\n </geometry>\n <material name=\"PepperWhiteBright\" />\n </visual>\n\
+ \ <collision>\n <geometry>\n <mesh filename=\"package://meshes/RWristYaw.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\
+ \ name=\"r_gripper\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\
+ \ />\n <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\"\
+ \ ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link\
+ \ name=\"RHandTouchBack_frame\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"\
+ 0 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link name=\"\
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+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger41.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger41_JULIETTE_AV_BRAS_.099Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger41.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger42_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
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+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger42.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger42_JULIETTE_AV_BRAS_.100Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger42.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger43_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger43.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger43_JULIETTE_AV_BRAS_.101Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger43.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger31_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger31.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger31_JULIETTE_AV_BRAS_.096Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger31.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger32_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger32.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger32_JULIETTE_AV_BRAS_.097Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger32.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger33_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger33.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger33_JULIETTE_AV_BRAS_.098Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger33.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger21_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger21.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger21_JULIETTE_AV_BRAS_.093Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger21.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger22_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger22.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger22_JULIETTE_AV_BRAS_.094Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger22.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger23_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger23.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger23_JULIETTE_AV_BRAS_.095Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger23.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger11_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger11.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger11_JULIETTE_AV_BRAS_.090Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger11.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger12_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger12.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger12_JULIETTE_AV_BRAS_.091Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger12.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RFinger13_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger13.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger13_JULIETTE_AV_BRAS_.092Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RFinger13.stl\" scale=\"\
+ 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RThumb1_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RThumb1.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RThumb1_JULIETTE_AV_BRAS_.088Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RThumb1.stl\" scale=\"0.1\
+ \ 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ RThumb2_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\
+ \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RThumb2.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RThumb2_JULIETTE_AV_BRAS_.089Mat\"\
+ \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \
+ \ <geometry>\n <mesh filename=\"package://meshes/RThumb2.stl\" scale=\"0.1\
+ \ 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\
+ ImuTorsoAccelerometer_frame\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"\
+ 0 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link name=\"\
+ ImuTorsoGyrometer_frame\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0\
+ \ 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link name=\"\
+ Tablet_frame\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"\
+ 1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link name=\"ChestButton_frame\"\
+ >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\
+ 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\
+ 1\" />\n </inertial>\n </link>\n <link name=\"HipPitch_shiny\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0.268\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n <visual>\n <origin xyz=\"0 0 0.268\" />\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/HipPitch_shiny.stl\" scale=\"0.1 0.1\
+ \ 0.1\" />\n </geometry>\n <material name=\"defaultMat\" />\n </visual>\n\
+ \ </link>\n <link name=\"KneePitch_milky\">\n <inertial>\n <origin rpy=\"\
+ 0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"\
+ 1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n\
+ \ <geometry>\n <mesh filename=\"package://meshes/KneePitch_milky.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"PepperWhiteBright\"\
+ \ />\n </visual>\n </link>\n <link name=\"SonarBack_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"VerticalLeftLaser_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"SurroundingFrontLaser_device_frame\"\
+ >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\
+ 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\
+ 1\" />\n </inertial>\n </link>\n <link name=\"BumperB_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"SurroundingLeftLaser_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"ShovelLaser_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"SurroundingRightLaser_device_frame\"\
+ >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\
+ 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\
+ 1\" />\n </inertial>\n </link>\n <link name=\"SurroundingLeftLaser_device_frame\"\
+ >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\
+ 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\
+ 1\" />\n </inertial>\n </link>\n <link name=\"SurroundingRightLaser_frame\"\
+ >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\
+ 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\
+ 1\" />\n </inertial>\n </link>\n <link name=\"VerticalRightLaser_frame\">\n\
+ \ <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\
+ 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\
+ 1\" />\n </inertial>\n </link>\n <link name=\"SonarFront_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"BumperFL_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"ImuBaseAccelerometer_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"BumperFR_frame\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\
+ \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\
+ \ </inertial>\n </link>\n <link name=\"SurroundingFrontLaser_frame\">\n \
+ \ <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\
+ 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\
+ 1\" />\n </inertial>\n </link>\n <link name=\"WheelFL_link\">\n <inertial>\n\
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1.5802799463\"\
+ \ />\n <inertia ixx=\"0.00296489312313497\" ixy=\"5.12017209075566E-07\" ixz=\"\
+ 8.84578668092217E-08\" iyy=\"0.00299945333972573\" iyz=\"5.60776925340178E-06\"\
+ \ izz=\"0.00303135369904339\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/WheelFL.stl\" scale=\"0.1 0.1 0.1\" />\n\
+ \ </geometry>\n <material name=\"WheelFL_GROUPE_01_JULIETT.003Mat\" />\n\
+ \ </visual>\n <collision>\n <geometry>\n <mesh filename=\"package://meshes/WheelFL_0.10.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\
+ \ name=\"WheelB_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\
+ \ />\n <mass value=\"1.5802799463\" />\n <inertia ixx=\"0.00296489312313497\"\
+ \ ixy=\"5.12017209075566E-07\" ixz=\"8.84578668092217E-08\" iyy=\"0.00299945333972573\"\
+ \ iyz=\"5.60776925340178E-06\" izz=\"0.00303135369904339\" />\n </inertial>\n\
+ \ <visual>\n <geometry>\n <mesh filename=\"package://meshes/WheelB.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"WheelB_GROUPE_01_JULIETT.004Mat\"\
+ \ />\n </visual>\n <collision>\n <geometry>\n <mesh filename=\"\
+ package://meshes/WheelB_0.10.stl\" scale=\"0.1 0.1 0.1\" />\n </geometry>\n\
+ \ </collision>\n </link>\n <link name=\"WheelFR_link\">\n <inertial>\n \
+ \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1.5802799463\"\
+ \ />\n <inertia ixx=\"0.00296489312313497\" ixy=\"5.12017209075566E-07\" ixz=\"\
+ 8.84578668092217E-08\" iyy=\"0.00299945333972573\" iyz=\"5.60776925340178E-06\"\
+ \ izz=\"0.00303135369904339\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <mesh filename=\"package://meshes/WheelFR.stl\" scale=\"0.1 0.1 0.1\" />\n\
+ \ </geometry>\n <material name=\"WheelFR_GROUPE_01_JULIETT.002Mat\" />\n\
+ \ </visual>\n <collision>\n <geometry>\n <mesh filename=\"package://meshes/WheelFR_0.10.stl\"\
+ \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\
+ \ name=\"sick_laser_rear\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"\
+ 0 0 0\" />\n <mass value=\"0.1000000015\" />\n <inertia ixx=\"1\" ixy=\"\
+ 0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n\
+ \ <geometry>\n <box size=\"0.05 0.05 0.05\" />\n </geometry>\n\
+ \ <material name=\"PepperBlackMat\" />\n </visual>\n </link>\n <link name=\"\
+ sick_laser_front\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\
+ \ <mass value=\"0.1000000015\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\
+ 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <geometry>\n\
+ \ <box size=\"0.05 0.05 0.05\" />\n </geometry>\n <material name=\"\
+ PepperBlackMat\" />\n </visual>\n </link>\n <joint name=\"base_link_joint\"\
+ \ type=\"fixed\">\n <parent link=\"base_link\" />\n <child link=\"base_footprint\"\
+ \ />\n </joint>\n <joint name=\"base_footprint_joint\" type=\"fixed\">\n <origin\
+ \ xyz=\"0 0 0.334\" />\n <parent link=\"base_footprint\" />\n <child link=\"\
+ Tibia\" />\n </joint>\n <joint name=\"KneePitch\" type=\"revolute\">\n <parent\
+ \ link=\"Tibia\" />\n <child link=\"Pelvis\" />\n <axis xyz=\"0 -1 0\" />\n\
+ \ <limit lower=\"-0.514872\" upper=\"0.514872\" effort=\"1000\" velocity=\"1000\"\
+ \ />\n </joint>\n <joint name=\"HipPitch\" type=\"revolute\">\n <origin xyz=\"\
+ 0 0 0.268\" />\n <parent link=\"Pelvis\" />\n <child link=\"Hip\" />\n \
+ \ <axis xyz=\"0 -1 0\" />\n <limit lower=\"-1.03847\" upper=\"1.03847\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"HipRoll\" type=\"revolute\"\
+ >\n <origin xyz=\"-2E-05 0 0.079\" />\n <parent link=\"Hip\" />\n <child\
+ \ link=\"torso\" />\n <axis xyz=\"-1 0 0\" />\n <limit lower=\"-0.514872\"\
+ \ upper=\"0.514872\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint\
+ \ name=\"HeadYaw\" type=\"revolute\">\n <origin xyz=\"-0.038 0 0.3089\" />\n\
+ \ <parent link=\"torso\" />\n <child link=\"Neck\" />\n <axis xyz=\"0 0\
+ \ 1\" />\n <limit lower=\"-2.08567\" upper=\"2.08567\" effort=\"1000\" velocity=\"\
+ 1000\" />\n </joint>\n <joint name=\"HeadPitch\" type=\"revolute\">\n <parent\
+ \ link=\"Neck\" />\n <child link=\"Head\" />\n <axis xyz=\"0 1 0\" />\n \
+ \ <limit lower=\"-0.706858\" upper=\"0.637045\" effort=\"1000\" velocity=\"1000\"\
+ \ />\n </joint>\n <joint name=\"HeadPitch_milky_joint\" type=\"fixed\">\n <parent\
+ \ link=\"Head\" />\n <child link=\"HeadPitch_milky\" />\n </joint>\n <joint\
+ \ name=\"HeadPitch_ears_joint\" type=\"fixed\">\n <parent link=\"Head\" />\n\
+ \ <child link=\"HeadPitch_ears\" />\n </joint>\n <joint name=\"HeadPitch_shiny_joint\"\
+ \ type=\"fixed\">\n <parent link=\"Head\" />\n <child link=\"HeadPitch_shiny\"\
+ \ />\n </joint>\n <joint name=\"SpeakerRight_sensor_fixedjoint\" type=\"fixed\"\
+ >\n <parent link=\"Head\" />\n <child link=\"RSpeaker_frame\" />\n </joint>\n\
+ \ <joint name=\"SpeakerLeft_sensor_fixedjoint\" type=\"fixed\">\n <parent link=\"\
+ Head\" />\n <child link=\"LSpeaker_frame\" />\n </joint>\n <joint name=\"CameraTop_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin xyz=\"0.08601 0 0.16284\" />\n <parent link=\"\
+ Head\" />\n <child link=\"CameraTop_frame\" />\n </joint>\n <joint name=\"\
+ CameraTop_optical_frame_fixedjoint\" type=\"fixed\">\n <origin rpy=\"-1.570796\
+ \ 0 -1.570796\" />\n <parent link=\"CameraTop_frame\" />\n <child link=\"\
+ CameraTop_optical_frame\" />\n </joint>\n <joint name=\"CameraDepth_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin xyz=\"0.05138 0.039 0.1194\" />\n <parent link=\"\
+ Head\" />\n <child link=\"CameraDepth_frame\" />\n </joint>\n <joint name=\"\
+ CameraDepth_optical_frame_fixedjoint\" type=\"fixed\">\n <origin rpy=\"-1.570796\
+ \ 0 -1.570796\" />\n <parent link=\"CameraDepth_frame\" />\n <child link=\"\
+ CameraDepth_optical_frame\" />\n </joint>\n <joint name=\"Head/Touch/Front_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin rpy=\"0 0.20944 0\" xyz=\"0.028175 0 0.21267\" />\n\
+ \ <parent link=\"Head\" />\n <child link=\"HeadTouchFront_frame\" />\n </joint>\n\
+ \ <joint name=\"CameraBottom_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\
+ 0 0.698132 0\" xyz=\"0.09262 0 0.06177\" />\n <parent link=\"Head\" />\n <child\
+ \ link=\"CameraBottom_frame\" />\n </joint>\n <joint name=\"CameraBottom_optical_frame_fixedjoint\"\
+ \ type=\"fixed\">\n <origin rpy=\"-1.570796 0 -1.570796\" />\n <parent link=\"\
+ CameraBottom_frame\" />\n <child link=\"CameraBottom_optical_frame\" />\n </joint>\n\
+ \ <joint name=\"Head/Touch/Rear_sensor_fixedjoint\" type=\"fixed\">\n <origin\
+ \ rpy=\"0 5.969026 0\" xyz=\"-0.03376 0 0.21052\" />\n <parent link=\"Head\"\
+ \ />\n <child link=\"HeadTouchRear_frame\" />\n </joint>\n <joint name=\"Head/Touch/Middle_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin rpy=\"0 6.248279 0\" xyz=\"0.0041 0 0.2159\" />\n\
+ \ <parent link=\"Head\" />\n <child link=\"HeadTouchMiddle_frame\" />\n </joint>\n\
+ \ <joint name=\"Torso_shiny_joint\" type=\"fixed\">\n <origin xyz=\"0 0 0.0695\"\
+ \ />\n <parent link=\"torso\" />\n <child link=\"Torso_shiny\" />\n </joint>\n\
+ \ <joint name=\"Torso_transparent_joint\" type=\"fixed\">\n <origin xyz=\"0\
+ \ 0 0.0695\" />\n <parent link=\"torso\" />\n <child link=\"Torso_transparent\"\
+ \ />\n </joint>\n <joint name=\"LShoulderPitch\" type=\"revolute\">\n <origin\
+ \ xyz=\"-0.057 0.14974 0.22582\" />\n <parent link=\"torso\" />\n <child link=\"\
+ LShoulder\" />\n <axis xyz=\"0 1 0\" />\n <limit lower=\"-2.08567\" upper=\"\
+ 2.08567\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LShoulderRoll\"\
+ \ type=\"revolute\">\n <parent link=\"LShoulder\" />\n <child link=\"LBicep\"\
+ \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0.008727\" upper=\"1.56207\"\
+ \ effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LShoulderRoll_shiny_joint\"\
+ \ type=\"fixed\">\n <parent link=\"LBicep\" />\n <child link=\"LShoulderRoll_shiny\"\
+ \ />\n </joint>\n <joint name=\"LElbowYaw\" type=\"revolute\">\n <origin rpy=\"\
+ 0 6.126106 0\" xyz=\"0.1812 0.015 0.00013\" />\n <parent link=\"LBicep\" />\n\
+ \ <child link=\"LElbow\" />\n <axis xyz=\"1 0 0\" />\n <limit lower=\"\
+ -2.08567\" upper=\"2.08567\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"LElbowRoll\" type=\"revolute\">\n <parent link=\"LElbow\" />\n\
+ \ <child link=\"LForeArm\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"\
+ -1.56207\" upper=\"-0.008727\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"LElbowRoll_milky_joint\" type=\"fixed\">\n <parent link=\"LForeArm\"\
+ \ />\n <child link=\"LElbowRoll_milky\" />\n </joint>\n <joint name=\"LWristYaw\"\
+ \ type=\"revolute\">\n <origin xyz=\"0.15 0 0\" />\n <parent link=\"LForeArm\"\
+ \ />\n <child link=\"l_wrist\" />\n <axis xyz=\"1 0 0\" />\n <limit lower=\"\
+ -1.82387\" upper=\"1.82387\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"LHand\" type=\"revolute\">\n <origin xyz=\"0.025 0 0\" />\n\
+ \ <parent link=\"l_wrist\" />\n <child link=\"l_gripper\" />\n <axis xyz=\"\
+ 1 0 0\" />\n <limit lower=\"0.02\" upper=\"0.98\" effort=\"1000\" velocity=\"\
+ 1000\" />\n </joint>\n <joint name=\"LHand/Touch/Back_sensor_fixedjoint\" type=\"\
+ fixed\">\n <origin rpy=\"0 4.712389 -1.570786\" xyz=\"0.0523 0 0.0304\" />\n\
+ \ <parent link=\"l_wrist\" />\n <child link=\"LHandTouchBack_frame\" />\n\
+ \ </joint>\n <joint name=\"LFinger21\" type=\"revolute\">\n <origin rpy=\"\
+ -4.712385 1.0472 -0.061086\" xyz=\"0.0873 -0.0073 0.006\" />\n <parent link=\"\
+ l_wrist\" />\n <child link=\"LFinger21_link\" />\n <axis xyz=\"0 0 1\" />\n\
+ \ <limit lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n\
+ \ </joint>\n <joint name=\"LFinger22\" type=\"revolute\">\n <origin rpy=\"\
+ 0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"LFinger21_link\" />\n \
+ \ <child link=\"LFinger22_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"\
+ 0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint\
+ \ name=\"LFinger23\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\" xyz=\"\
+ 0.018 0 0\" />\n <parent link=\"LFinger22_link\" />\n <child link=\"LFinger23_link\"\
+ \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger11\" type=\"revolute\"\
+ >\n <origin rpy=\"-4.539165 1.04064 -0.033433\" xyz=\"0.0821 -0.0268 0.004\"\
+ \ />\n <parent link=\"l_wrist\" />\n <child link=\"LFinger11_link\" />\n \
+ \ <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger12\" type=\"revolute\"\
+ >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"LFinger11_link\"\
+ \ />\n <child link=\"LFinger12_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\
+ \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"LFinger13\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\
+ \ xyz=\"0.018 0 0\" />\n <parent link=\"LFinger12_link\" />\n <child link=\"\
+ LFinger13_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\
+ 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger41\"\
+ \ type=\"revolute\">\n <origin rpy=\"-4.885615 1.04064 -6.214846\" xyz=\"0.074\
+ \ 0.0309 0\" />\n <parent link=\"l_wrist\" />\n <child link=\"LFinger41_link\"\
+ \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger42\" type=\"revolute\"\
+ >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"LFinger41_link\"\
+ \ />\n <child link=\"LFinger42_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\
+ \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"LFinger43\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\
+ \ xyz=\"0.018 0 0\" />\n <parent link=\"LFinger42_link\" />\n <child link=\"\
+ LFinger43_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\
+ 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger31\"\
+ \ type=\"revolute\">\n <origin rpy=\"-4.816825 1.04483 -0.029314\" xyz=\"0.0833\
+ \ 0.0123 0.004\" />\n <parent link=\"l_wrist\" />\n <child link=\"LFinger31_link\"\
+ \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger32\" type=\"revolute\"\
+ >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"LFinger31_link\"\
+ \ />\n <child link=\"LFinger32_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\
+ \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"LFinger33\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\
+ \ xyz=\"0.018 0 0\" />\n <parent link=\"LFinger32_link\" />\n <child link=\"\
+ LFinger33_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\
+ 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LThumb1\"\
+ \ type=\"revolute\">\n <origin rpy=\"-2.55836 0.80626 -5.749207\" xyz=\"0.0482\
+ \ -0.0357 -0.0199\" />\n <parent link=\"l_wrist\" />\n <child link=\"LThumb1_link\"\
+ \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LThumb2\" type=\"revolute\"\
+ >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.022 0 0\" />\n <parent link=\"LThumb1_link\"\
+ \ />\n <child link=\"LThumb2_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\
+ \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"RShoulderPitch\" type=\"revolute\">\n <origin xyz=\"-0.057 -0.14974\
+ \ 0.22582\" />\n <parent link=\"torso\" />\n <child link=\"RShoulder\" />\n\
+ \ <axis xyz=\"0 1 0\" />\n <limit lower=\"-2.08567\" upper=\"2.08567\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RShoulderRoll\" type=\"\
+ revolute\">\n <parent link=\"RShoulder\" />\n <child link=\"RBicep\" />\n\
+ \ <axis xyz=\"0 0 1\" />\n <limit lower=\"-1.56207\" upper=\"-0.008727\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RShoulderRoll_shiny_joint\"\
+ \ type=\"fixed\">\n <parent link=\"RBicep\" />\n <child link=\"RShoulderRoll_shiny\"\
+ \ />\n </joint>\n <joint name=\"RElbowYaw\" type=\"revolute\">\n <origin rpy=\"\
+ 0 6.126106 0\" xyz=\"0.1812 -0.015 0.00013\" />\n <parent link=\"RBicep\" />\n\
+ \ <child link=\"RElbow\" />\n <axis xyz=\"1 0 0\" />\n <limit lower=\"\
+ -2.08567\" upper=\"2.08567\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"RElbowRoll\" type=\"revolute\">\n <parent link=\"RElbow\" />\n\
+ \ <child link=\"RForeArm\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"\
+ 0.008727\" upper=\"1.56207\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"RElbowRoll_milky_joint\" type=\"fixed\">\n <parent link=\"RForeArm\"\
+ \ />\n <child link=\"RElbowRoll_milky\" />\n </joint>\n <joint name=\"RWristYaw\"\
+ \ type=\"revolute\">\n <origin xyz=\"0.15 0 0\" />\n <parent link=\"RForeArm\"\
+ \ />\n <child link=\"r_wrist\" />\n <axis xyz=\"1 0 0\" />\n <limit lower=\"\
+ -1.82387\" upper=\"1.82387\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"RHand\" type=\"revolute\">\n <origin xyz=\"0.025 0 0\" />\n\
+ \ <parent link=\"r_wrist\" />\n <child link=\"r_gripper\" />\n <axis xyz=\"\
+ 1 0 0\" />\n <limit lower=\"0.02\" upper=\"0.98\" effort=\"1000\" velocity=\"\
+ 1000\" />\n </joint>\n <joint name=\"RHand/Touch/Back_sensor_fixedjoint\" type=\"\
+ fixed\">\n <origin rpy=\"0 4.712389 -1.570786\" xyz=\"0.0523 0 0.0304\" />\n\
+ \ <parent link=\"r_wrist\" />\n <child link=\"RHandTouchBack_frame\" />\n\
+ \ </joint>\n <joint name=\"RFinger41\" type=\"revolute\">\n <origin rpy=\"\
+ -4.539165 1.04064 -0.06834\" xyz=\"0.074 -0.0309 0\" />\n <parent link=\"r_wrist\"\
+ \ />\n <child link=\"RFinger41_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\
+ \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"RFinger42\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\
+ \ xyz=\"0.018 0 0\" />\n <parent link=\"RFinger41_link\" />\n <child link=\"\
+ RFinger42_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\
+ 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger43\"\
+ \ type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n \
+ \ <parent link=\"RFinger42_link\" />\n <child link=\"RFinger43_link\" />\n \
+ \ <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"1000\"\
+ \ velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger31\" type=\"revolute\"\
+ >\n <origin rpy=\"-4.607955 1.04483 -6.253869\" xyz=\"0.0833 -0.0123 0.004\"\
+ \ />\n <parent link=\"r_wrist\" />\n <child link=\"RFinger31_link\" />\n \
+ \ <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger32\" type=\"revolute\"\
+ >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"RFinger31_link\"\
+ \ />\n <child link=\"RFinger32_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\
+ \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"RFinger33\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\
+ \ xyz=\"0.018 0 0\" />\n <parent link=\"RFinger32_link\" />\n <child link=\"\
+ RFinger33_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\
+ 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger21\"\
+ \ type=\"revolute\">\n <origin rpy=\"-4.712386 1.0472 -6.222099\" xyz=\"0.0873\
+ \ 0.0073 0.006\" />\n <parent link=\"r_wrist\" />\n <child link=\"RFinger21_link\"\
+ \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger22\" type=\"revolute\"\
+ >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"RFinger21_link\"\
+ \ />\n <child link=\"RFinger22_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\
+ \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"RFinger23\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\
+ \ xyz=\"0.018 0 0\" />\n <parent link=\"RFinger22_link\" />\n <child link=\"\
+ RFinger23_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\
+ 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger11\"\
+ \ type=\"revolute\">\n <origin rpy=\"-4.885615 1.04064 -6.249752\" xyz=\"0.0821\
+ \ 0.0268 0.004\" />\n <parent link=\"r_wrist\" />\n <child link=\"RFinger11_link\"\
+ \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger12\" type=\"revolute\"\
+ >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"RFinger11_link\"\
+ \ />\n <child link=\"RFinger12_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\
+ \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"RFinger13\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\
+ \ xyz=\"0.018 0 0\" />\n <parent link=\"RFinger12_link\" />\n <child link=\"\
+ RFinger13_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\
+ 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RThumb1\"\
+ \ type=\"revolute\">\n <origin rpy=\"-0.58323 0.80626 -0.533978\" xyz=\"0.0482\
+ \ 0.0357 -0.0199\" />\n <parent link=\"r_wrist\" />\n <child link=\"RThumb1_link\"\
+ \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\
+ 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RThumb2\" type=\"revolute\"\
+ >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.022 0 0\" />\n <parent link=\"RThumb1_link\"\
+ \ />\n <child link=\"RThumb2_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\
+ \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\
+ \ <joint name=\"Accelerometer_sensor_fixedjoint\" type=\"fixed\">\n <origin\
+ \ xyz=\"0.00239 -0.03575 0.14526\" />\n <parent link=\"torso\" />\n <child\
+ \ link=\"ImuTorsoAccelerometer_frame\" />\n </joint>\n <joint name=\"Gyrometer_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin xyz=\"0.00204 -0.03491 0.12941\" />\n <parent\
+ \ link=\"torso\" />\n <child link=\"ImuTorsoGyrometer_frame\" />\n </joint>\n\
+ \ <joint name=\"Tablet_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\
+ 0 5.759586 0\" xyz=\"0.083925 0 0.20151\" />\n <parent link=\"torso\" />\n \
+ \ <child link=\"Tablet_frame\" />\n </joint>\n <joint name=\"ChestBoard/Button_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin xyz=\"0.049871 0.001588 0.194163\" />\n <parent\
+ \ link=\"torso\" />\n <child link=\"ChestButton_frame\" />\n </joint>\n <joint\
+ \ name=\"HipPitch_shiny_joint\" type=\"fixed\">\n <parent link=\"Pelvis\" />\n\
+ \ <child link=\"HipPitch_shiny\" />\n </joint>\n <joint name=\"KneePitch_milky_joint\"\
+ \ type=\"fixed\">\n <parent link=\"Tibia\" />\n <child link=\"KneePitch_milky\"\
+ \ />\n </joint>\n <joint name=\"Sonar/Back_sensor_fixedjoint\" type=\"fixed\"\
+ >\n <origin rpy=\"0 6.073747 -3.14159\" xyz=\"-0.0718 0 -0.0534\" />\n <parent\
+ \ link=\"Tibia\" />\n <child link=\"SonarBack_frame\" />\n </joint>\n <joint\
+ \ name=\"LaserSensor/VerticalLeft_sensor_fixedjoint\" type=\"fixed\">\n <origin\
+ \ rpy=\"0 0.349066 0\" xyz=\"0.0562 0 -0.0692\" />\n <parent link=\"Tibia\" />\n\
+ \ <child link=\"VerticalLeftLaser_frame\" />\n </joint>\n <joint name=\"LaserSensor/Front_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin rpy=\"0 0.349066 0\" xyz=\"0.0562 0 -0.0692\" />\n\
+ \ <parent link=\"Tibia\" />\n <child link=\"SurroundingFrontLaser_device_frame\"\
+ \ />\n </joint>\n <joint name=\"Bumper/Back_sensor_fixedjoint\" type=\"fixed\"\
+ >\n <origin rpy=\"0 0 -3.14159\" xyz=\"-0.251 0 -0.264\" />\n <parent link=\"\
+ Tibia\" />\n <child link=\"BumperB_frame\" />\n </joint>\n <joint name=\"LaserSensor/Left_projected_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin rpy=\"0 0 -4.525905\" xyz=\"-0.018 0.0899 -0.334\"\
+ \ />\n <parent link=\"Tibia\" />\n <child link=\"SurroundingLeftLaser_frame\"\
+ \ />\n </joint>\n <joint name=\"LaserSensor/Shovel_sensor_fixedjoint\" type=\"\
+ fixed\">\n <origin rpy=\"0 0.349066 0\" xyz=\"0.0562 0 -0.0692\" />\n <parent\
+ \ link=\"Tibia\" />\n <child link=\"ShovelLaser_frame\" />\n </joint>\n <joint\
+ \ name=\"LaserSensor/Right_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\
+ 0 0.349066 -1.5708\" xyz=\"-0.018 -0.0899 -0.0759\" />\n <parent link=\"Tibia\"\
+ \ />\n <child link=\"SurroundingRightLaser_device_frame\" />\n </joint>\n <joint\
+ \ name=\"LaserSensor/Left_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\
+ 0 0.349066 -4.712386\" xyz=\"-0.018 0.0899 -0.0759\" />\n <parent link=\"Tibia\"\
+ \ />\n <child link=\"SurroundingLeftLaser_device_frame\" />\n </joint>\n <joint\
+ \ name=\"LaserSensor/Right_projected_sensor_fixedjoint\" type=\"fixed\">\n <origin\
+ \ rpy=\"0 0 -1.75728\" xyz=\"-0.018 -0.0899 -0.334\" />\n <parent link=\"Tibia\"\
+ \ />\n <child link=\"SurroundingRightLaser_frame\" />\n </joint>\n <joint name=\"\
+ LaserSensor/VerticalRight_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\
+ 0 0.349066 0\" xyz=\"0.0562 0 -0.0692\" />\n <parent link=\"Tibia\" />\n <child\
+ \ link=\"VerticalRightLaser_frame\" />\n </joint>\n <joint name=\"Sonar/Front_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin rpy=\"0 5.960327 0\" xyz=\"0.0699 0 -0.1023\" />\n\
+ \ <parent link=\"Tibia\" />\n <child link=\"SonarFront_frame\" />\n </joint>\n\
+ \ <joint name=\"Bumper/FrontLeft_sensor_fixedjoint\" type=\"fixed\">\n <origin\
+ \ rpy=\"0 0 -5.794325\" xyz=\"0.129 0.227 -0.264\" />\n <parent link=\"Tibia\"\
+ \ />\n <child link=\"BumperFL_frame\" />\n </joint>\n <joint name=\"AccelerometerBase_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin xyz=\"0.0147 -0.0017 -0.26319\" />\n <parent link=\"\
+ Tibia\" />\n <child link=\"ImuBaseAccelerometer_frame\" />\n </joint>\n <joint\
+ \ name=\"Bumper/FrontRight_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\
+ 0 0 -0.48886\" xyz=\"0.129 -0.227 -0.264\" />\n <parent link=\"Tibia\" />\n \
+ \ <child link=\"BumperFR_frame\" />\n </joint>\n <joint name=\"LaserSensor/Front_projected_sensor_fixedjoint\"\
+ \ type=\"fixed\">\n <origin xyz=\"0.0562 0 -0.334\" />\n <parent link=\"Tibia\"\
+ \ />\n <child link=\"SurroundingFrontLaser_frame\" />\n </joint>\n <joint name=\"\
+ WheelFL\" type=\"continuous\">\n <origin rpy=\"0 0 -5.208015\" xyz=\"0.09 0.155\
+ \ -0.264\" />\n <parent link=\"Tibia\" />\n <child link=\"WheelFL_link\" />\n\
+ \ <axis xyz=\"1 0 0\" />\n </joint>\n <joint name=\"WheelB\" type=\"continuous\"\
+ >\n <origin rpy=\"0 0 -3.14159\" xyz=\"-0.17 0 -0.264\" />\n <parent link=\"\
+ Tibia\" />\n <child link=\"WheelB_link\" />\n <axis xyz=\"1 0 0\" />\n </joint>\n\
+ \ <joint name=\"WheelFR\" type=\"continuous\">\n <origin rpy=\"0 0 -1.07517\"\
+ \ xyz=\"0.09 -0.155 -0.264\" />\n <parent link=\"Tibia\" />\n <child link=\"\
+ WheelFR_link\" />\n <axis xyz=\"1 0 0\" />\n </joint>\n <joint name=\"sick_laser_rear\"\
+ \ type=\"fixed\">\n <origin rpy=\"0 0 -3.141593\" xyz=\"-0.245 0 -0.1\" />\n\
+ \ <parent link=\"Tibia\" />\n <child link=\"sick_laser_rear\" />\n </joint>\n\
+ \ <joint name=\"sick_laser_front\" type=\"fixed\">\n <origin xyz=\"0.245 0 -0.1\"\
+ \ />\n <parent link=\"Tibia\" />\n <child link=\"sick_laser_front\" />\n \
+ \ </joint>\n <transmission name=\"HeadYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"HeadYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"HeadYaw_Motor\">\n <!-- Dummy Values -->\n \
+ \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>101.3</mechanicalReduction>\n\
+ \ </actuator>\n</transmission>\n<transmission name=\"HeadPitch_Transmission\">\n\
+ \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"HeadPitch\"\
+ >\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"HeadPitch_Motor\">\n <!-- Dummy Values -->\n\
+ \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>118.1</mechanicalReduction>\n\
+ \ </actuator>\n</transmission>\n<transmission name=\"LShoulderPitch_Transmission\"\
+ >\n <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"LShoulderPitch\"\
+ >\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"LShoulderPitch_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>101.3</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"LShoulderRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"LShoulderRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"LShoulderRoll_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"LElbowYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"LElbowYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"LElbowYaw_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>101.3</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"LElbowRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"LElbowRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"LElbowRoll_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"LWristYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"LWristYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"LWristYaw_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"LHand_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"LHand\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"LHand_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>36.24</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"RShoulderPitch_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"RShoulderPitch\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"RShoulderPitch_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>101.3</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"RShoulderRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"RShoulderRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"RShoulderRoll_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"RElbowYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"RElbowYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"RElbowYaw_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>101.3</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"RElbowRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"RElbowRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"RElbowRoll_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"RWristYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"RWristYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"RWristYaw_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"RHand_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"RHand\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"RHand_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\
+ \ <mechanicalReduction>36.24</mechanicalReduction>\n </actuator>\n</transmission>\n\
+ <transmission name=\"HipRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
+ \ <joint name=\"HipRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"HipRoll_Motor\">\n <!-- Dummy Values -->\n \
+ \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>108.33</mechanicalReduction>\n\
+ \ </actuator>\n</transmission>\n<transmission name=\"HipPitch_Transmission\">\n\
+ \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"HipPitch\"\
+ >\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"HipPitch_Motor\">\n <!-- Dummy Values -->\n \
+ \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>108.33</mechanicalReduction>\n\
+ \ </actuator>\n</transmission>\n<transmission name=\"KneePitch_Transmission\">\n\
+ \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"KneePitch\"\
+ >\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"KneePitch_Motor\">\n <!-- Dummy Values -->\n\
+ \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>108.33</mechanicalReduction>\n\
+ \ </actuator>\n</transmission>\n<transmission name=\"WheelFL_Transmission\">\n\
+ \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"WheelFL\"\
+ >\n <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"WheelFL_Motor\">\n <!-- Dummy Values -->\n \
+ \ <hardwareInterface>EffortJointInterface</hardwareInterface>\n <mechanicalReduction>25.0</mechanicalReduction>\n\
+ \ </actuator>\n</transmission>\n<transmission name=\"WheelB_Transmission\">\n \
+ \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"WheelB\"\
+ >\n <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"WheelB_Motor\">\n <!-- Dummy Values -->\n \
+ \ <hardwareInterface>EffortJointInterface</hardwareInterface>\n <mechanicalReduction>25.0</mechanicalReduction>\n\
+ \ </actuator>\n</transmission>\n<transmission name=\"WheelFR_Transmission\">\n\
+ \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"WheelFR\"\
+ >\n <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\n\
+ \ </joint>\n <actuator name=\"WheelFR_Motor\">\n <!-- Dummy Values -->\n \
+ \ <hardwareInterface>EffortJointInterface</hardwareInterface>\n <mechanicalReduction>25.0</mechanicalReduction>\n\
+ \ </actuator>\n</transmission>\n</robot>"
+
diff --git a/crowdbotsim/urdf/meshes/HeadPitch_0.10.stl b/crowdbotsim/urdf/meshes/HeadPitch_0.10.stl
new file mode 100644
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diff --git a/crowdbotsim/urdf/meshes/HeadPitch_ears.stl b/crowdbotsim/urdf/meshes/HeadPitch_ears.stl
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diff --git a/crowdbotsim/urdf/meshes/HeadPitch_eyes.stl b/crowdbotsim/urdf/meshes/HeadPitch_eyes.stl
new file mode 100644
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GIT binary patch
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diff --git a/crowdbotsim/urdf/meshes/HeadPitch_shiny.stl b/crowdbotsim/urdf/meshes/HeadPitch_shiny.stl
new file mode 100644
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diff --git a/crowdbotsim/urdf/meshes/HipRoll.stl b/crowdbotsim/urdf/meshes/HipRoll.stl
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diff --git a/crowdbotsim/urdf/meshes/LShoulderPitch.stl b/crowdbotsim/urdf/meshes/LShoulderPitch.stl
new file mode 100644
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diff --git a/crowdbotsim/urdf/meshes/RShoulderPitch.stl b/crowdbotsim/urdf/meshes/RShoulderPitch.stl
new file mode 100644
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diff --git a/crowdbotsim/urdf/meshes/Torso_shiny.stl b/crowdbotsim/urdf/meshes/Torso_shiny.stl
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--
GitLab